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User interfaces for CRCL Simulated Robot Server and Client Pendant.
/*
* This software is public domain software, however it is preferred
* that the following disclaimers be attached.
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain.
*
* This software is experimental. NIST assumes no responsibility whatsoever for its use by other
* parties, and makes no guarantees, expressed or implied, about its
* quality, reliability, or any other characteristic. We would appreciate
* acknowledgement if the software is used. This software can be
* redistributed and/or modified freely provided that any derivative works
* bear some notice that they are derived from it, and any modified
* versions bear some notice that they have been modified.
*
*/
package crcl.ui;
import com.github.wshackle.crcl4java.exi.CrclExiSocket;
import crcl.base.CRCLCommandInstanceType;
import crcl.base.CRCLCommandType;
import crcl.base.CRCLStatusType;
import crcl.base.CommandStateEnumType;
import crcl.base.CommandStatusType;
import crcl.base.EndCanonType;
import crcl.base.GetStatusType;
import crcl.base.InitCanonType;
import crcl.base.ParallelGripperStatusType;
import crcl.base.SetEndEffectorType;
import crcl.base.ThreeFingerGripperStatusType;
import crcl.base.VacuumGripperStatusType;
import static crcl.ui.IconImages.SERVER_IMAGE;
import crcl.utils.CRCLSocket;
import crcl.utils.CRCLException;
import java.awt.Color;
import java.awt.Dimension;
import java.awt.Font;
import java.awt.Graphics2D;
import java.awt.Image;
import java.awt.image.BufferedImage;
import java.io.IOException;
import java.math.BigDecimal;
import java.math.BigInteger;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.ArrayList;
import java.util.List;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
*
* @author Will Shackleford {@literal }
*/
public class GripperJFrame extends javax.swing.JFrame {
/**
* Creates new form GripperJFrame
*/
public GripperJFrame() {
initComponents();
this.jTextFieldPort.setText(Integer.toString(this.port));
this.jTextFieldCycleTime.setText(Integer.toString(this.delayMillis));
this.restartServer();
this.setIconImage(SERVER_IMAGE);
}
/**
* This method is called from within the constructor to initialize the form.
* WARNING: Do NOT modify this code. The content of this method is always
* regenerated by the Form Editor.
*/
@SuppressWarnings("unchecked")
// //GEN-BEGIN:initComponents
private void initComponents() {
jPanel6 = new javax.swing.JPanel();
jLabel5 = new javax.swing.JLabel();
jTextFieldPort = new javax.swing.JTextField();
jLabel6 = new javax.swing.JLabel();
jTextFieldCycleTime = new javax.swing.JTextField();
jButtonReset = new javax.swing.JButton();
jCheckBoxInitialized = new javax.swing.JCheckBox();
jCheckBoxSendStatusWithoutRequest = new javax.swing.JCheckBox();
jButtonRestartServer = new javax.swing.JButton();
jTabbedPane1 = new javax.swing.JTabbedPane();
jPanelThreeFinger = new javax.swing.JPanel();
jScrollPane1 = new javax.swing.JScrollPane();
jTableThreeFinger = new javax.swing.JTable();
jPanelVacuum = new javax.swing.JPanel();
jCheckBoxVacuumPower = new javax.swing.JCheckBox();
jPanelParallel = new javax.swing.JPanel();
jLabel1 = new javax.swing.JLabel();
jTextFieldParallelSeperation = new javax.swing.JTextField();
jMenuBar1 = new javax.swing.JMenuBar();
jMenu1 = new javax.swing.JMenu();
jMenu2 = new javax.swing.JMenu();
jMenuOptions = new javax.swing.JMenu();
jCheckBoxMenuItemReplaceState = new javax.swing.JCheckBoxMenuItem();
FormListener formListener = new FormListener();
setDefaultCloseOperation(javax.swing.WindowConstants.EXIT_ON_CLOSE);
setTitle("Sim Gripper Server");
jPanel6.setBorder(javax.swing.BorderFactory.createTitledBorder("Setup"));
jLabel5.setText("Port: ");
jTextFieldPort.setText("4005 ");
jTextFieldPort.addActionListener(formListener);
jLabel6.setText("Cycle Time (ms): ");
jTextFieldCycleTime.setText("1000");
jTextFieldCycleTime.addActionListener(formListener);
jButtonReset.setText("Reset");
jButtonReset.addActionListener(formListener);
jCheckBoxInitialized.setText("Initialized");
jCheckBoxSendStatusWithoutRequest.setText("Send Status Without Requests");
jButtonRestartServer.setText("Restart Server");
jButtonRestartServer.addActionListener(formListener);
javax.swing.GroupLayout jPanel6Layout = new javax.swing.GroupLayout(jPanel6);
jPanel6.setLayout(jPanel6Layout);
jPanel6Layout.setHorizontalGroup(
jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel6Layout.createSequentialGroup()
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addGroup(javax.swing.GroupLayout.Alignment.LEADING, jPanel6Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel6Layout.createSequentialGroup()
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel5)
.addComponent(jLabel6))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTextFieldCycleTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldPort, javax.swing.GroupLayout.PREFERRED_SIZE, 110, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addComponent(jCheckBoxInitialized)))
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel6Layout.createSequentialGroup()
.addGap(12, 12, 12)
.addComponent(jCheckBoxSendStatusWithoutRequest))
.addGroup(jPanel6Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jButtonReset)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonRestartServer))))
.addGap(30, 30, 30))
);
jPanel6Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jTextFieldCycleTime, jTextFieldPort});
jPanel6Layout.setVerticalGroup(
jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel6Layout.createSequentialGroup()
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(jLabel5)
.addComponent(jTextFieldPort, javax.swing.GroupLayout.PREFERRED_SIZE, 30, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel6)
.addComponent(jTextFieldCycleTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonReset)
.addComponent(jButtonRestartServer))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxInitialized)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxSendStatusWithoutRequest))
);
jPanelThreeFinger.setName("ThreeFinger"); // NOI18N
jTableThreeFinger.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jTableThreeFinger.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{ new Integer(1), new Double(0.0), null},
{ new Integer(2), new Double(0.0), null},
{ new Integer(3), new Double(0.0), null}
},
new String [] {
"Finger", "Position", "Force"
}
) {
Class[] types = new Class [] {
java.lang.Integer.class, java.lang.Double.class, java.lang.Object.class
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
});
jScrollPane1.setViewportView(jTableThreeFinger);
javax.swing.GroupLayout jPanelThreeFingerLayout = new javax.swing.GroupLayout(jPanelThreeFinger);
jPanelThreeFinger.setLayout(jPanelThreeFingerLayout);
jPanelThreeFingerLayout.setHorizontalGroup(
jPanelThreeFingerLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelThreeFingerLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 385, Short.MAX_VALUE)
.addContainerGap())
);
jPanelThreeFingerLayout.setVerticalGroup(
jPanelThreeFingerLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelThreeFingerLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 132, Short.MAX_VALUE)
.addContainerGap())
);
jTabbedPane1.addTab("ThreeFinger", jPanelThreeFinger);
jPanelVacuum.setName("Vacuum"); // NOI18N
jCheckBoxVacuumPower.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jCheckBoxVacuumPower.setText("Power");
javax.swing.GroupLayout jPanelVacuumLayout = new javax.swing.GroupLayout(jPanelVacuum);
jPanelVacuum.setLayout(jPanelVacuumLayout);
jPanelVacuumLayout.setHorizontalGroup(
jPanelVacuumLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelVacuumLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jCheckBoxVacuumPower)
.addContainerGap(314, Short.MAX_VALUE))
);
jPanelVacuumLayout.setVerticalGroup(
jPanelVacuumLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelVacuumLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jCheckBoxVacuumPower)
.addContainerGap(118, Short.MAX_VALUE))
);
jTabbedPane1.addTab("Vacuum", jPanelVacuum);
jPanelParallel.setName("Parallel"); // NOI18N
jLabel1.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jLabel1.setText("Seperation");
jTextFieldParallelSeperation.setText("0.0");
javax.swing.GroupLayout jPanelParallelLayout = new javax.swing.GroupLayout(jPanelParallel);
jPanelParallel.setLayout(jPanelParallelLayout);
jPanelParallelLayout.setHorizontalGroup(
jPanelParallelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelParallelLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabel1)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldParallelSeperation, javax.swing.GroupLayout.DEFAULT_SIZE, 277, Short.MAX_VALUE)
.addContainerGap())
);
jPanelParallelLayout.setVerticalGroup(
jPanelParallelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelParallelLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelParallelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jTextFieldParallelSeperation, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel1))
.addContainerGap(114, Short.MAX_VALUE))
);
jTabbedPane1.addTab("Parallel", jPanelParallel);
jMenu1.setText("File");
jMenuBar1.add(jMenu1);
jMenu2.setText("Edit");
jMenuBar1.add(jMenu2);
jMenuOptions.setText("Options");
jCheckBoxMenuItemReplaceState.setText("Replace WORKING,DONE with Working,Done ...");
jMenuOptions.add(jCheckBoxMenuItemReplaceState);
jMenuBar1.add(jMenuOptions);
setJMenuBar(jMenuBar1);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(getContentPane());
getContentPane().setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTabbedPane1))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTabbedPane1)
.addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
);
pack();
}
// Code for dispatching events from components to event handlers.
private class FormListener implements java.awt.event.ActionListener {
FormListener() {}
public void actionPerformed(java.awt.event.ActionEvent evt) {
if (evt.getSource() == jTextFieldPort) {
GripperJFrame.this.jTextFieldPortActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldCycleTime) {
GripperJFrame.this.jTextFieldCycleTimeActionPerformed(evt);
}
else if (evt.getSource() == jButtonReset) {
GripperJFrame.this.jButtonResetActionPerformed(evt);
}
else if (evt.getSource() == jButtonRestartServer) {
GripperJFrame.this.jButtonRestartServerActionPerformed(evt);
}
}
}// //GEN-END:initComponents
private void jTextFieldPortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldPortActionPerformed
this.setPort(Integer.valueOf(this.jTextFieldPort.getText()));
this.restartServer();
}//GEN-LAST:event_jTextFieldPortActionPerformed
private void jTextFieldCycleTimeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldCycleTimeActionPerformed
this.setDelayMillis(Integer.valueOf(this.jTextFieldCycleTime.getText()));
this.restartServer();
}//GEN-LAST:event_jTextFieldCycleTimeActionPerformed
private void jButtonResetActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonResetActionPerformed
// TODO add your handling code here:
}//GEN-LAST:event_jButtonResetActionPerformed
private int port = 4005;
/**
* Get the value of port
*
* @return the value of port
*/
public int getPort() {
return port;
}
/**
* Set the value of port
*
* @param port new value of port
*/
public void setPort(int port) {
this.port = port;
}
private int delayMillis = 1000;
/**
* Get the value of delayMillis
*
* @return the value of delayMillis
*/
public int getDelayMillis() {
return delayMillis;
}
/**
* Set the value of delayMillis
*
* @param delayMillis new value of delayMillis
*/
public void setDelayMillis(int delayMillis) {
this.delayMillis = delayMillis;
}
private ServerSocket serverSocket = null;
private Thread acceptThread = null;
private Thread updateThread = null;
private List clients = null;
private List clientThreads = null;
private final java.util.concurrent.LinkedBlockingQueue cmdQueue
= new java.util.concurrent.LinkedBlockingQueue<>();
private final CRCLStatusType status = new CRCLStatusType();
private void close() {
if (null != clients) {
for (int i = 0; i < clients.size(); i++) {
CRCLSocket cs = clients.get(i);
try {
cs.close();
} catch (IOException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
clients.clear();
clients = null;
}
if (null != serverSocket) {
try {
serverSocket.close();
} catch (IOException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
serverSocket = null;
}
if (null != acceptThread) {
acceptThread.interrupt();
try {
acceptThread.join(100);
} catch (InterruptedException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
acceptThread = null;
}
if (null != updateThread) {
updateThread.interrupt();
try {
updateThread.join(100);
} catch (InterruptedException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
updateThread = null;
}
if (null != cmdQueue) {
cmdQueue.clear();
}
}
private ThreeFingerGripperStatusType threeFingerGripperStatus = null;
private VacuumGripperStatusType vacuumGripperStatus = null;
private ParallelGripperStatusType parallelGripperStatus = null;
private void checkCommandQueue() {
CRCLCommandType cmd = this.cmdQueue.poll();
if (null != cmd) {
CommandStatusType cst = status.getCommandStatus();
if (cst == null) {
cst = new CommandStatusType();
}
cst.setCommandID(cmd.getCommandID());
status.setCommandStatus(cst);
if (cmd instanceof InitCanonType) {
this.jCheckBoxInitialized.setSelected(true);
} else if (cmd instanceof EndCanonType) {
this.jCheckBoxInitialized.setSelected(false);
}
if (this.jCheckBoxInitialized.isSelected()) {
if (cmd instanceof SetEndEffectorType) {
SetEndEffectorType seeCmd = (SetEndEffectorType) cmd;
switch (this.jTabbedPane1.getSelectedComponent().getName()) {
case "ThreeFinger":
if (null == this.threeFingerGripperStatus) {
this.threeFingerGripperStatus = new ThreeFingerGripperStatusType();
}
this.threeFingerGripperStatus.setFinger1Position(seeCmd.getSetting());
this.threeFingerGripperStatus.setFinger2Position(seeCmd.getSetting());
this.threeFingerGripperStatus.setFinger3Position(seeCmd.getSetting());
this.jTableThreeFinger.getModel().setValueAt(seeCmd.getSetting().doubleValue(), 0, 1);
this.jTableThreeFinger.getModel().setValueAt(seeCmd.getSetting().doubleValue(), 1, 1);
this.jTableThreeFinger.getModel().setValueAt(seeCmd.getSetting().doubleValue(), 2, 1);
break;
case "Vacuum":
if (null == this.vacuumGripperStatus) {
this.vacuumGripperStatus = new VacuumGripperStatusType();
}
vacuumGripperStatus.setIsPowered(seeCmd.getSetting().compareTo(BigDecimal.valueOf(0.5)) < 0);
this.jCheckBoxVacuumPower.setSelected(vacuumGripperStatus.isIsPowered());
break;
case "Parallel":
if (null == this.parallelGripperStatus) {
this.parallelGripperStatus = new ParallelGripperStatusType();
}
parallelGripperStatus.setSeparation(seeCmd.getSetting());
this.jTextFieldParallelSeperation.setText(seeCmd.getSetting().toString());
break;
}
}
}
}
}
private void updateStatus() {
this.prepStatus();
CommandStatusType cst = status.getCommandStatus();
BigInteger statusId = cst.getStatusID();
if (null == statusId) {
statusId = BigInteger.ONE;
}
cst.setStatusID(statusId.add(BigInteger.ONE));
switch (this.jTabbedPane1.getSelectedComponent().getName()) {
case "ThreeFinger":
if (null == this.threeFingerGripperStatus) {
this.threeFingerGripperStatus = new ThreeFingerGripperStatusType();
}
this.status.setGripperStatus(threeFingerGripperStatus);
Double f1pos = (Double) this.jTableThreeFinger.getModel().getValueAt(0, 1);
threeFingerGripperStatus.setFinger1Position(BigDecimal.valueOf(f1pos));
Double f2pos = (Double) this.jTableThreeFinger.getModel().getValueAt(1, 1);
threeFingerGripperStatus.setFinger2Position(BigDecimal.valueOf(f2pos));
Double f3pos = (Double) this.jTableThreeFinger.getModel().getValueAt(2, 1);
threeFingerGripperStatus.setFinger3Position(BigDecimal.valueOf(f3pos));
Object f1forceObj = this.jTableThreeFinger.getModel().getValueAt(0, 2);
if (null != f1forceObj) {
try {
double f1force = Double.valueOf(f1forceObj.toString());
threeFingerGripperStatus.setFinger1Force(BigDecimal.valueOf(f1force));
} catch (NumberFormatException numberFormatException) {
}
}
Object f2forceObj = this.jTableThreeFinger.getModel().getValueAt(1, 2);
if (null != f2forceObj) {
try {
double f2force = Double.valueOf(f2forceObj.toString());
threeFingerGripperStatus.setFinger2Force(BigDecimal.valueOf(f2force));
} catch (NumberFormatException numberFormatException) {
}
}
Object f3forceObj = this.jTableThreeFinger.getModel().getValueAt(2, 2);
if (null != f3forceObj) {
try {
double f3force = Double.valueOf(f3forceObj.toString());
threeFingerGripperStatus.setFinger3Force(BigDecimal.valueOf(f3force));
} catch (NumberFormatException numberFormatException) {
}
}
break;
case "Vacuum":
if (null == this.vacuumGripperStatus) {
this.vacuumGripperStatus = new VacuumGripperStatusType();
}
vacuumGripperStatus.setIsPowered(this.jCheckBoxVacuumPower.isSelected());
this.status.setGripperStatus(vacuumGripperStatus);
break;
case "Parallel":
if (null == this.parallelGripperStatus) {
this.parallelGripperStatus = new ParallelGripperStatusType();
}
try {
double sep = Double.valueOf(this.jTextFieldParallelSeperation.getText());
parallelGripperStatus.setSeparation(BigDecimal.valueOf(sep));
} catch (NumberFormatException numberFormatException) {
}
this.status.setGripperStatus(parallelGripperStatus);
break;
}
this.status.getGripperStatus().setGripperName(this.jTabbedPane1.getSelectedComponent().getName());
if (this.jCheckBoxSendStatusWithoutRequest.isSelected()) {
if (null != clients && clients.size() > 0) {
try {
CRCLSocket cs0 = clients.get(0);
if (jCheckBoxMenuItemReplaceState.isSelected()) {
cs0.setStatusStringOutputFilter(CRCLSocket.removeCRCLFromState);
} else {
cs0.setStatusStringOutputFilter(null);
}
String xmlS = cs0.statusToString(status, false);
for (int i = 0; i < clients.size(); i++) {
try {
CRCLSocket curClient = clients.get(i);
curClient.writeWithFill(xmlS);
} catch (IOException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
clients.remove(i);
} catch (InterruptedException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
} catch (CRCLException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
}
private void prepStatus() {
CommandStatusType cst = status.getCommandStatus();
if (cst == null) {
cst = new CommandStatusType();
status.setCommandStatus(cst);
}
if (null == cst.getCommandID()) {
cst.setCommandID(BigInteger.ONE);
}
if (null == cst.getStatusID()) {
cst.setStatusID(BigInteger.ONE);
}
if (null == cst.getCommandState()) {
cst.setCommandState(CommandStateEnumType.CRCL_DONE);
}
}
private void acceptClient() throws IOException {
try {
Socket s = serverSocket.accept();
final CrclExiSocket cs = new CrclExiSocket(s);
if (null == clients) {
clients = new ArrayList<>();
}
clients.add(cs);
Thread t = new Thread(new Runnable() {
@Override
public void run() {
while (!Thread.currentThread().isInterrupted() && cs.isConnected()) {
try {
CRCLCommandInstanceType cmdInstance = cs.readCommand(false);
if (null == cmdInstance) {
continue;
}
CRCLCommandType cmd = cmdInstance.getCRCLCommand();
if (cmd instanceof GetStatusType) {
prepStatus();
if (jCheckBoxMenuItemReplaceState.isSelected()) {
cs.setStatusStringOutputFilter(CRCLSocket.removeCRCLFromState);
}
cs.writeStatus(status, false);
} else {
cmdQueue.put(cmd);
}
} catch (CRCLException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
} catch (IOException | InterruptedException iex) {
try {
cs.close();
} catch (Exception cse) {
}
return;
}
}
}
}, "gripperClientThread" + clients.size());
if (null == clientThreads) {
clientThreads = new ArrayList<>();
}
clientThreads.add(t);
t.start();
} catch (CRCLException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
private void restartServer() {
try {
this.close();
try {
int new_port = Integer.valueOf(this.jTextFieldPort.getText());
this.setPort(new_port);
} catch (NumberFormatException numberFormatException) {
}
try {
int new_delay_millis = Integer.valueOf(this.jTextFieldCycleTime.getText());
this.setDelayMillis(new_delay_millis);
} catch (NumberFormatException numberFormatException) {
}
this.serverSocket = new ServerSocket(this.port);
this.clients = new ArrayList<>();
this.clientThreads = new ArrayList<>();
acceptThread = new Thread(new Runnable() {
@Override
public void run() {
try {
while (!Thread.currentThread().isInterrupted()) {
acceptClient();
}
} catch (IOException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
}, "gripperAcceptThread");
acceptThread.start();
updateThread = new Thread(new Runnable() {
@Override
public void run() {
try {
while (!Thread.currentThread().isInterrupted()) {
Thread.sleep(delayMillis);
checkCommandQueue();
updateStatus();
}
} catch (InterruptedException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
}, "gripperUpdateThread");
updateThread.start();
} catch (IOException ex) {
Logger.getLogger(GripperJFrame.class.getName()).log(Level.SEVERE, null, ex);
}
}
@Override
protected void finalize() throws Throwable {
super.finalize();
this.close();
}
private void jButtonRestartServerActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonRestartServerActionPerformed
// TODO add your handling code here:
}//GEN-LAST:event_jButtonRestartServerActionPerformed
/**
* @param args the command line arguments
*/
public static void main(String args[]) {
/* Set the Nimbus look and feel */
//
/* If Nimbus (introduced in Java SE 6) is not available, stay with the default look and feel.
* For details see http://download.oracle.com/javase/tutorial/uiswing/lookandfeel/plaf.html
*/
try {
for (javax.swing.UIManager.LookAndFeelInfo info : javax.swing.UIManager.getInstalledLookAndFeels()) {
if ("Nimbus".equals(info.getName())) {
javax.swing.UIManager.setLookAndFeel(info.getClassName());
break;
}
}
} catch (ClassNotFoundException ex) {
java.util.logging.Logger.getLogger(GripperJFrame.class.getName()).log(java.util.logging.Level.SEVERE, null, ex);
} catch (InstantiationException ex) {
java.util.logging.Logger.getLogger(GripperJFrame.class.getName()).log(java.util.logging.Level.SEVERE, null, ex);
} catch (IllegalAccessException ex) {
java.util.logging.Logger.getLogger(GripperJFrame.class.getName()).log(java.util.logging.Level.SEVERE, null, ex);
} catch (javax.swing.UnsupportedLookAndFeelException ex) {
java.util.logging.Logger.getLogger(GripperJFrame.class.getName()).log(java.util.logging.Level.SEVERE, null, ex);
}
//
/* Create and display the form */
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
new GripperJFrame().setVisible(true);
}
});
}
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton jButtonReset;
private javax.swing.JButton jButtonRestartServer;
private javax.swing.JCheckBox jCheckBoxInitialized;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemReplaceState;
private javax.swing.JCheckBox jCheckBoxSendStatusWithoutRequest;
private javax.swing.JCheckBox jCheckBoxVacuumPower;
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel5;
private javax.swing.JLabel jLabel6;
private javax.swing.JMenu jMenu1;
private javax.swing.JMenu jMenu2;
private javax.swing.JMenuBar jMenuBar1;
private javax.swing.JMenu jMenuOptions;
private javax.swing.JPanel jPanel6;
private javax.swing.JPanel jPanelParallel;
private javax.swing.JPanel jPanelThreeFinger;
private javax.swing.JPanel jPanelVacuum;
private javax.swing.JScrollPane jScrollPane1;
private javax.swing.JTabbedPane jTabbedPane1;
private javax.swing.JTable jTableThreeFinger;
private javax.swing.JTextField jTextFieldCycleTime;
private javax.swing.JTextField jTextFieldParallelSeperation;
private javax.swing.JTextField jTextFieldPort;
// End of variables declaration//GEN-END:variables
private static final Logger LOG = Logger.getLogger(GripperJFrame.class.getName());
}
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